/**
 * @file FreeRTOSConfig.h
 * @brief FreeRTOS configuration for H743-V2 Flight Control System
 * @author Flight Control Team
 * @date 2025-10-31
 */

#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H

/*-----------------------------------------------------------
 * Application specific definitions.
 *
 * These definitions should be adjusted for your particular hardware and
 * application requirements.
 *
 * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
 * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
 *
 * See http://www.freertos.org/a00110.html
 *----------------------------------------------------------*/

/* CMSIS设备头文件定义（用于CMSIS-RTOS V2） */
#define CMSIS_device_header "stm32h7xx.h"

/* Ensure stdint is only used by the compiler, and not the assembler. */
#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
#include <stdint.h>
extern uint32_t SystemCoreClock;
#endif

/* Core Configuration */
#define configUSE_PREEMPTION                     1
#define configSUPPORT_STATIC_ALLOCATION          1
#define configSUPPORT_DYNAMIC_ALLOCATION         1
#define configUSE_IDLE_HOOK                      0
#define configUSE_TICK_HOOK                      0
#define configUSE_MALLOC_FAILED_HOOK             1
#define configCHECK_FOR_STACK_OVERFLOW           2
#define configCPU_CLOCK_HZ                       (SystemCoreClock)
#define configTICK_RATE_HZ                       ((TickType_t)1000)
#define configMAX_PRIORITIES                     (16)
#define configMINIMAL_STACK_SIZE                 ((uint16_t)256)
#define configTOTAL_HEAP_SIZE                    ((size_t)(128 * 1024))  // 128KB
#define configMAX_TASK_NAME_LEN                  (16)
#define configUSE_TRACE_FACILITY                 1
#define configUSE_16_BIT_TICKS                   0
#define configUSE_MUTEXES                        1
#define configQUEUE_REGISTRY_SIZE                8
#define configUSE_RECURSIVE_MUTEXES              1
#define configUSE_COUNTING_SEMAPHORES            1
#define configUSE_PORT_OPTIMISED_TASK_SELECTION  0

/* Co-routine definitions. */
#define configUSE_CO_ROUTINES                    0
#define configMAX_CO_ROUTINE_PRIORITIES          (2)

/* Software timer definitions. */
#define configUSE_TIMERS                         1
#define configTIMER_TASK_PRIORITY                (2)
#define configTIMER_QUEUE_LENGTH                 10
#define configTIMER_TASK_STACK_DEPTH             (configMINIMAL_STACK_SIZE * 2)

/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet                 1
#define INCLUDE_uxTaskPriorityGet                1
#define INCLUDE_vTaskDelete                      1
#define INCLUDE_vTaskCleanUpResources            0
#define INCLUDE_vTaskSuspend                     1
#define INCLUDE_vTaskDelayUntil                  1
#define INCLUDE_vTaskDelay                       1
#define INCLUDE_xTaskGetSchedulerState           1
#define INCLUDE_xTimerPendFunctionCall           1
#define INCLUDE_xQueueGetMutexHolder             1
#define INCLUDE_uxTaskGetStackHighWaterMark      1
#define INCLUDE_eTaskGetState                    1
#define INCLUDE_xTaskGetCurrentTaskHandle        1

/* Cortex-M specific definitions. */
#ifdef __NVIC_PRIO_BITS
 /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
 #define configPRIO_BITS         __NVIC_PRIO_BITS
#else
 #define configPRIO_BITS         4
#endif

/* The lowest interrupt priority that can be used in a call to a "set priority"
function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY   15

/* The highest interrupt priority that can be used by any interrupt service
routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5

/* Interrupt priorities used by the kernel port layer itself.  These are generic
to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY 		( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )

/* Normal assert() semantics without relying on the provision of an assert.h
header file. */
/* TEMPORARILY DISABLED FOR DEBUGGING */
#define configASSERT( x )

/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
standard names. */
#define vPortSVCHandler    SVC_Handler
#define xPortPendSVHandler PendSV_Handler

/* IMPORTANT: This define is commented out by default, but must be used for STM32H7. */
#define xPortSysTickHandler SysTick_Handler

/* Memory allocation related definitions. */
#define configAPPLICATION_ALLOCATED_HEAP         1  /* Heap defined in linker script */

/* Task notification definitions */
#define configTASK_NOTIFICATION_ARRAY_ENTRIES    3

/* Stream buffer definitions */
#define configUSE_TASK_NOTIFICATIONS             1

/* Event group definitions */
#define configUSE_EVENT_GROUPS                   1

/* Run time stats gathering definitions */
#define configGENERATE_RUN_TIME_STATS            0

/* MPU specific definitions */
#define configENABLE_MPU                         0
#define configENABLE_FPU                         1
#define configENABLE_TRUSTZONE                   0

/* ARMv8-M secure side port related definitions. */
#define secureconfigMAX_SECURE_CONTEXTS          5

/* Optional functions - most linkers will remove unused functions anyway. */
#define INCLUDE_xTaskAbortDelay                  1
#define INCLUDE_xTaskGetHandle                   1
#define INCLUDE_xSemaphoreGetMutexHolder         1

/* Interrupt nesting behaviour configuration. */
#define configMAX_API_CALL_INTERRUPT_PRIORITY    configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY

/* SysTick clock source
 * IMPORTANT: When configSYSTICK_CLOCK_HZ is defined and equals configCPU_CLOCK_HZ,
 * FreeRTOS sets portNVIC_SYSTICK_CLK_BIT = 0, which means SysTick uses external clock (AHB/8).
 * So we should NOT define configSYSTICK_CLOCK_HZ, let FreeRTOS use processor clock (AHB).
 */
/* #define configSYSTICK_CLOCK_HZ                   (configCPU_CLOCK_HZ) */

/* Memory regions for MPU */
#define configTOTAL_MPU_REGIONS                  8

/* Expected idle time before entering low power mode */
#define configEXPECTED_IDLE_TIME_BEFORE_SLEEP    2

/* Use tickless idle mode */
#define configUSE_TICKLESS_IDLE                  0

/* Heap allocation scheme */
#define configHEAP_CLEAR_MEMORY_ON_FREE          1

/* Task priorities for flight control system */
#define TASK_PRIORITY_IDLE                       0
#define TASK_PRIORITY_LOW                        1
#define TASK_PRIORITY_NORMAL                     2
#define TASK_PRIORITY_HIGH                       3
#define TASK_PRIORITY_REALTIME                   4
#define TASK_PRIORITY_CRITICAL                   5

/* Task stack sizes */
#define TASK_STACK_SIZE_IDLE                     (configMINIMAL_STACK_SIZE)
#define TASK_STACK_SIZE_SMALL                    (configMINIMAL_STACK_SIZE * 2)
#define TASK_STACK_SIZE_NORMAL                   (configMINIMAL_STACK_SIZE * 4)
#define TASK_STACK_SIZE_LARGE                    (configMINIMAL_STACK_SIZE * 8)

/* Queue sizes */
#define QUEUE_SIZE_SENSOR_DATA                   10
#define QUEUE_SIZE_CONTROL_CMD                   5
#define QUEUE_SIZE_LOG_DATA                      20

/* Semaphore and mutex timeouts */
#define MUTEX_TIMEOUT_MS                         100
#define SEMAPHORE_TIMEOUT_MS                     50

/* Task periods (in ms) */
#define TASK_PERIOD_SENSOR_READ                  1     // 1ms (1000Hz)
#define TASK_PERIOD_ATTITUDE_CONTROL             1     // 1ms (1000Hz)
#define TASK_PERIOD_POSITION_CONTROL             2     // 2ms (500Hz)
#define TASK_PERIOD_LOGGER                       10    // 10ms (100Hz)
#define TASK_PERIOD_TELEMETRY                    20    // 20ms (50Hz)
#define TASK_PERIOD_LED                          100   // 100ms (10Hz)

/* Debug configuration */
#ifdef DEBUG
#define configRECORD_STACK_HIGH_ADDRESS          1
#else
#define configRECORD_STACK_HIGH_ADDRESS          0
#endif

/* Trace configuration */
#define configUSE_TRACE_FACILITY                 1
#define configUSE_STATS_FORMATTING_FUNCTIONS     1

/* Memory protection */
#define configPROTECTED_KERNEL_OBJECT_POOL_SIZE  10

#endif /* FREERTOS_CONFIG_H */

